The invention belongs to the technical field of agricultural machinery automatic driving auxiliary devices, and particularly relates to a wheel type agricultural machinery automatic steering method and system based on stm32 and an agricultural machinery. When the agricultural machine is static, a steering system response dead zone is measured through an initialization program, and a steering system PID parameter is set through a critical scale method; when an agricultural machine works, after a steering control system obtains a target wheel rotation angle, non-contact measurement is conducted on the wheel deflection angle through attitude calculation and Kalman optimal estimation, an electric steering wheel is controlled to rotate through a feedforward-PID control algorithm, and closed-loop control over the agricultural machine steering system is achieved. The wheel steering angle sensor can be installed at any position, the debugging threshold of the steering device is lowered, the adaptability to different agricultural machines is enhanced, and the steering error of the wheel type agricultural machine is eliminated to the maximum extent in the advancing process of the agricultural machine.
本发明属于农机自动驾驶辅助装置技术领域,具体涉及一种基于stm32的轮式农机自动转向方法、系统及农机;农机静止时,通过初始化程序测量转向系统响应死区,通过临界比例度法整定转向系统PID参数;农机作业时,转向控制系统在获取目标车轮转角后,通过姿态解算和卡尔曼最优估计对车轮偏转角进行非接触测量,通过前馈‑PID控制算法控制电动方向盘转动,实现对农机转向系统的闭环控制。本发明实现了车轮转角传感器的任意位置安装,降低了转向装置调试门槛,增强了对不同农机的适应性,在农机行进过程中最大程度消除轮式农机转向误差。
Wheeled agricultural machine automatic steering method and system based on stm32 and agricultural machine
一种基于stm32的轮式农机自动转向方法、系统及农机
2023-07-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
STEERING SYSTEM FOR A WHEELED AGRICULTURAL MATERIAL APPLICATOR MACHINE
European Patent Office | 2019
|Agricultural machine steering method and device and agricultural machine
European Patent Office | 2023
|Automatic steering calibration of an agricultural machine
European Patent Office | 2021
|